7.3.2 Vehicle structure

This group is the root node of the entire vehicle. All components of the vehicle shall be children of this node. The origin of the Root node is the center of the vehicle’s bounding box projected to the ground, including all vehicle parts in their default positions, meaning the vehicle is under neutral load conditions, the wheels are running straight, the doors are closed, and the lights are off.

This group contains all parts of the vehicle’s exterior. It shares the coordinate system with Grp_Root, see Table 17.

This group contains all dynamic parts of the vehicle’s exterior. It shares the coordinate system with Grp_Root, see Table 17.

Dynamic parts are geometric structures whose position and orientation relative to the vehicle’s origin may change throughout a simulation. They may also change their state during the simulation, which is why lights are considered dynamic.

This group contains all parts of a vehicle’s convertible top. It shares the coordinate system with Grp_Root, see Table 17.

This group contains all parts of a door located at the bottom of the vehicle, including its interior parts, as they move together as a unit.

<door_bottom_idx> denotes the index of doors at the bottom. The index entries are sorted from front to rear, starting with 0.

This group contains all parts of a door located at the front of the vehicle, such as the engine cover. It also includes the door’s interior parts, as they move together as a single unit.

<door_front_idx> denotes the index of front doors. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a door located on the left side of the vehicle, including its interior parts, as they move together as a unit.

<door_left_idx> denotes the index of doors on the left side. The index entries are sorted from front to rear, starting with 0.

This group contains all parts of a door located at the rear of the vehicle, such as the trunklid. It also includes the door’s interior parts, as they move together as a single unit.

<door_rear_idx> denotes the index of rear doors. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a door located on the right side of the vehicle, including its interior parts, as they move together as a unit.

<door_right_idx> denotes the index of doors on the right side. The index entries are sorted from front to rear, starting with 0.

This group contains all parts of a door located on the top of the vehicle, including its interior parts, as they move together as a unit.

<door_top_idx> denotes the index of doors on the top of the vehicle. The index entries are sorted from front to rear, starting with 0.

This group contains all parts of a hitch at the front of the vehicle. It exists on some cars and on most trailers.

This group defines the contact point to attach another vehicle.

During simulation a vehicle’s Grp_Hitch_Rear_Contact_Point and another vehicle’s Grp_Hitch_Front_Contact_Point are placed at the same position.

This group contains all parts of a hitch on the rear of the vehicle. It exists on cars and on some trailers for multi-trailer setups.

This group defines the contact point to attach another vehicle.

During simulation a vehicle’s Grp_Hitch_Rear_Contact_Point and another vehicle’s Grp_Hitch_Front_Contact_Point are placed at the same position.

This group contains all parts of the vehicle’s license plate.

<license_plate_idx> denotes the index of license plates. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of a brake light located at the center of the vehicle.

<brake_center_idx> denotes the index of brake lights in the center. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a brake light located on the left side of the vehicle.

<brake_left_idx> denotes the index of brake lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a brake light located on the right side of the vehicle.

<brake_right_idx> denotes the index of brake lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a corner light on the vehicle’s left side. A corner light is typically a white light that provides side illumination in the direction of a turn or lane change.

<corner_left_idx> denotes the index of corner lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a corner light on the vehicle’s right side. A corner light is typically a white light that provides side illumination in the direction of a turn or lane change.

<corner_right_idx> denotes the index of corner lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of the daytime running light on the vehicle’s left side.

<day_left_idx> denotes the index of daytime running lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of the daytime running light on the vehicle’s right side.

<day_right_idx> denotes the index of daytime running lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a fog light on the vehicle’s left side.

<fog_left_idx> denotes the index of fog lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a fog light on the vehicle’s right side.

<fog_right_idx> denotes the index of fog lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a high beam light on the vehicle’s left side.

<high_beam_left_idx> denotes the index of high beam lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a high beam light on the vehicle’s right side.

<high_beam_right_idx> denotes the index of high beam lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of an indicator light on the vehicle’s left side.

<indicator_left_idx> denotes the index of indicator lights on the left side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of an indicator light on the vehicle’s right side.

<indicator_right_idx> denotes the index of indicator lights on the right side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of the vehicle’s license plate light.

<license_plate_light_idx> denotes the index of license plate lights. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of a low beam light on the vehicle’s left side.

<low_beam_left_idx> denotes the index of low beam lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a low beam light on the vehicle’s right side.

<low_beam_right_idx> denotes the index of low beam lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a parking light on the vehicle’s left side.

<park_left_idx> denotes the index of parking lights on the left side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of a parking light on the vehicle’s right side.

<park_right_idx> denotes the index of parking lights on the right side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of a position light on the vehicle’s left side. Position lights are usually small, low-intensity, and orange.

<position_left_idx> denotes the index of position lights on the left side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of a position light on the vehicle’s right side. Position lights are usually small, low-intensity, and orange.

<position_right_idx> denotes the index of position lights on the right side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of a reverse light on the vehicle’s left side.

<reverse_left_idx> denotes the index of reverse lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a reverse light on the vehicle’s right side.

<reverse_right_idx> denotes the index of reverse lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a tail light on the vehicle’s left side.

<tail_left_idx> denotes the index of tail lights on the left side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of a tail light on the vehicle’s right side.

<tail_right_idx> denotes the index of tail lights on the right side. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all parts of the vehicle’s warning light. Warning lights can include various emergency lights, hazard lights, and more.

<warning_idx> denotes the index of warning lights. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of the vehicle’s blindspot mirror mounting.

It is a child node of Grp_Exterior_Dynamic if mounted directly to the vehicle body, or a child node of either Grp_Door_Left or Grp_Door_Right if mounted to the door.

<blindspot_mirror_mounting_idx> denotes the index of blindspot mirror mountings. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

The index is used consistently, regardless of whether the mirror is mounted to the door or to the vehicle body.

This group contains all parts of the movable structure that holds the blindspot mirror. The blindspot mirror view automatically adjusts when the angle of the blindspot joint changes.

It is a child node of the corresponding mirror mounting group.

<blindspot_mirror_joint_idx> denotes the index of blindspot mirror joints. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group is an empty node that represents the view direction of the mirror glass on a blindspot mirror.

It is a child node of the corresponding mirror joint group.

<blindspot_mirror_view_idx> denotes the index of blindspot mirrors. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of the side mirror on the vehicle’s left side.

It is a child node of Grp_Exterior_Dynamic if mounted directly to the vehicle body, or a child node of either Grp_Door_Left or Grp_Door_Right if mounted to the door.

<side_mirror_mounting_left_idx> denotes the index of side mirrors on the left side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

The index is used consistently, regardless of whether the mirror is mounted to the door or to the vehicle body.

This group contains all parts of the movable structure that holds the mirror on the vehicle’s left side. The mirror view automatically adjusts when the angle of the joint changes.

It is a child node of the corresponding mirror mounting group.

<side_mirror_joint_left_idx> denotes the index of side mirror joints on the left side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group is an empty node that represents the view direction of the mirror glass on a side mirror on the left side of the vehicle.

It is a child node of the corresponding mirror joint group.

<side_mirror_view_left_idx> denotes the index of mirror glasses on the left side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of the side mirror on the vehicle’s right side.

It is a child node of Grp_Exterior_Dynamic if mounted directly to the vehicle body, or a child node of either Grp_Door_Left or Grp_Door_Right if mounted to the door.

<side_mirror_mounting_right_idx> denotes the index of side mirrors on the right side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

The index is used consistently, regardless of whether the mirror is mounted to the door or to the vehicle body.

This group contains all parts of the movable structure that holds the mirror on the vehicle’s left side. The mirror view automatically adjusts when the angle of the joint changes.

It is a child node of the corresponding mirror mounting group.

<side_mirror_joint_right_idx> denotes the index of side mirror joints on the right side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group is an empty node that represents the view direction of the mirror glass on a side mirror on the right side of the vehicle.

It is a child node of the corresponding mirror joint group.

<side_mirror_view_right_idx> denotes the index of mirror glasses on the right side. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group is an empty node in the center of the rear axle.

The coordinate origin of this group is aligned with the ASAM OSI host vehicle coordinate system and may be used as the reference frame for perception sensor data.

This group contains all parts of a wheel, which may consist of the tire, rim, brake caliper, and so on.

The groups' transform shall only be used to implement translational movement of the wheel. Rotational movement of the wheel shall be applied simultaneously to the transforms of both groups' child nodes, Grp_Wheel_Steering and Grp_Wheel_Steering_Rotating, whereby the wheels' rolling movement shall only be taken into account for the latter (see following sections for details).

Suspension deflection is represented by translation along the z-axis. Zero translation around all axles is defined under neutral load conditions.

<axle_idx> denotes the index of the axle to which the wheel is mounted, counting from front to rear, starting with 0.

<wheel_idx> denotes the index of the wheel on the specified axle, counting from right to left in positive y-direction, starting with 0. For example, the wheel on the front left of a standard vehicle would be labeled 'Grp_Wheel_0_1'.

This group contains all parts of a wheel that follow the steering motion but not the wheels' rolling movement, such as brake calipers. Therefore, rotational movement due to wheel steering and wheel camber shall be applied to this group.

Wheel steering is represented by rotation around the z-axis. Wheel camber is defined by a rotation around the x-axis. Zero rotation around all axles is defined under neutral load conditions.

The indices are the same as in the parent group Grp_Wheel.

This group contains all parts of a wheel that follow the steering motion as well as the rolling movement of the wheel, such as tire and rim. Therefore, rotational movement due to wheel steering, wheel camber and the wheel rolling movement shall be applied to this group.

Wheel steering is represented by rotation around the z-axis. Wheel camber is defined by a rotation around the x-axis. The wheels' rolling movement is defined by a rotation around the y-axis. Zero rotation around all axles is defined under neutral load conditions.

The indices are the same as in the parent group Grp_Wheel.

This group contains all static parts of the vehicle’s exterior. It shares the coordinate system with Grp_Root, see Table 17. Static elements are geometric structures that have a fixed position and orientation relative to the vehicle’s origin throughout the simulation.

In contrast to lights, which change their state depending on whether they are switched on or off, static elements never change state during the simulation.

This group contains all parts of the vehicle’s interior. It shares the coordinate system with Grp_Root, see Table 17. The interior is separated from the exterior to allow for disabling or exchanging it in the simulation.

This group contains all dynamic parts of the vehicle’s interior. It shares the coordinate system with Grp_Root, see Table 17. Dynamic elements are geometric structures whose position and orientation relative to the vehicle’s origin may change throughout the simulation.

They may also change their state during the simulation. Examples of dynamic elements are lights, which can be switched on and off.

This group is an empty node that represents the view direction of an average passenger in the vehicle.

<eyepoint_idx> denotes the index of eye points. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of a vehicle’s rearview mirror mounting.

<rearview_mirror_mounting_idx> denotes the index of rearview mirror mountings. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

The index is used consistently, regardless of whether the mirror is mounted to the door or to the vehicle body.

This group contains all parts of the movable structure that holds the rearview mirror. The mirror view automatically adjusts when the angle of the joint changes.

<rearview_mirror_joint_idx> denotes the index of rearview mirror joints. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group is an empty node that represents the view direction of the mirror glass on a rearview mirror.

It is a child node of the corresponding mirror joint group.

<rearview_mirror_view_idx> denotes the index of rearview mirrors. The index entries are sorted from right to left in positive y-direction, and from front to rear, starting with 0.

This group contains all parts of the vehicle’s seats.

The seat position can be used to place a human 3D model as a passenger. Therefore, a bench consists of multiple individual seats.

<seat_row_idx> denotes a row of seats, counted from the front to the rear, starting with 0. <seat_idx> denotes the index of a seat per row. The index entries are sorted from right to left in positive y-direction, starting with 0.

This group contains all elements of the vehicle’s steering wheel.

This group contains all static parts of the vehicle’s interior. It shares the coordinate system with Grp_Root, see Table 17. Static elements are geometric structures that have a fixed position and orientation relative to the vehicle’s origin throughout the simulation.

In contrast to lights, which change their state depending on whether they are switched on or off, static elements never change state during the simulation.

One or more optional vehicle parts may be added to the main vehicle structure. This group contains all (sub-)parts of the vehicle part.

A vehicle part is a large component of a vehicle that can move in a different direction than the rest of the vehicle, for example, the vehicle part follows an individual path during turns.

A vehicle may have multiple vehicle parts at the same hierarchy level or in a parent-child relationship. This typically applies to articulated vehicles, such as a front loader with a hinged axis or an articulated bus with a hinge in the middle, and may also apply to construction vehicles. When a vehicle part can be detached, like a trailer, it is treated as a separate object, not as a vehicle part.

The child nodes of a vehicle part may follow the same structure as the main vehicle. For example, if a vehicle part has lights, they may use the same structure and naming conventions as those on the main vehicle.

Standard passenger vehicles do not have separate parts.